Positional Servo Systems (e.g., Servomechanisms) Patents (Class 318/560)
  • Patent number: 10300572
    Abstract: In a workpiece loader device, a loader mechanism is configured to move a loader hand directly held by operator's hands to a desired position. A loader mechanism control part stores position coordinates as workpiece receiving position coordinates when the loader hand is moved by operator's hands to the workpiece receiving position and a completion of moving is confirmed.
    Type: Grant
    Filed: March 7, 2016
    Date of Patent: May 28, 2019
    Assignee: DMG MORI CO., LTD.
    Inventors: Hiroshi Yasuda, Yoshinobu Okuyama, Takayuki Higuchi
  • Patent number: 10303152
    Abstract: A motor controller which controls a servo motor for driving a machine, includes: a speed command unit which commands the speed of the machine; a speed detection unit which detects the speed of the servo motor; and a speed control unit which produces a torque command based on a speed command and a motor speed detected so as to control the speed of the servo motor, where the speed control unit includes a filter which approximates the inverse characteristic of a transmission characteristic from the servo motor to the machine, the filter has a transmission characteristic F(s) based on a frequency ?, a vibration damping coefficient ? and a cutoff frequency ?adj which are adjustment parameters and the frequency ? is adjusted so as to be equal to or more than an antiresonant frequency ?0 of the machine but less than a resonant frequency ?p.
    Type: Grant
    Filed: June 12, 2018
    Date of Patent: May 28, 2019
    Assignee: Fanuc Corporation
    Inventors: Tsutomu Nakamura, Satoshi Ikai
  • Patent number: 10234831
    Abstract: A control command resolution adjustment method and a command generation device are disclosed in present invention. The control command resolution adjustment method is used to adjust a control command form the command generation device. A calculation frequency value via the command generation device is analyzed. The control command is received and a transform frequency value via the control command is analyzed. A first resolution value is calculated from the calculation frequency value and the transform frequency value. The first resolution value is distinguished greater than or equal to a minimum resolution value. When the first resolution value less than the minimum resolution value, an added calculation frequency value is calculated from the calculation frequency value and a frequency added value. A second resolution value is calculated from the added calculation frequency value and the transform frequency value.
    Type: Grant
    Filed: August 29, 2017
    Date of Patent: March 19, 2019
    Assignee: TECO ELECTRIC & MACHINERY CO., LTD.
    Inventors: Chia-Jen Lin, Feng-Chieh Lin
  • Patent number: 10234842
    Abstract: A numerical controller includes a path conversion unit for obtaining a curved correction path passing through three points corresponding to a start point and an end point of a third block, and a shift point obtained by shifting an intermediate point of a command path based on the third block in an inward direction of a corner path within a limit of a preset allowable error amount when the corner path is formed by a series of blocks and a tangential direction of the corner path is continuous, and generating a path obtained by replacing the command path of the third block included in the corner path by the correction path, the third block commanding curvilinear movement at a larger curvature than a first curvature and a second curvature being interposed between the first block.
    Type: Grant
    Filed: February 27, 2017
    Date of Patent: March 19, 2019
    Assignee: Fanuc Corporation
    Inventor: Naoya Koide
  • Patent number: 10232480
    Abstract: A controller of a machine tool capable of suppressing heat generation and realizing a stable cutting operation during deep cutting is provided. A numerical controller for controlling a machine tool including a spindle motor formed of an induction motor and a feed axis driving motor includes: a magnetic flux amount acquisition means that acquires a present magnetic flux amount of the spindle motor; and a speed change means that changes a speed of the feed axis driving motor on the basis of the magnetic flux amount.
    Type: Grant
    Filed: October 25, 2017
    Date of Patent: March 19, 2019
    Assignee: FANUC CORPORATION
    Inventors: Yuuki Morita, Tadashi Okita
  • Patent number: 10219930
    Abstract: Systems and methods for tracking unintentional high amplitude muscle movements of a user and stabilizing a handheld tool are described. The method may include detecting motion of a housing of the handheld tool when manipulated by a user while the user is performing a task with a user-assistive device attached to an attachment arm of the handheld tool, and storing the detected motion in a memory of the handheld tool as motion data. Furthermore, the method may include controlling a first motion generating mechanism and a second motion generating mechanism by generating a first motion signal and a second motion signal that respectively drive the first motion generating mechanism in a first degree of freedom and the second motion generating mechanism in a second degree of freedom to stabilize motion of the user-assistive device attached to the attachment arm of the handheld tool.
    Type: Grant
    Filed: July 14, 2016
    Date of Patent: March 5, 2019
    Assignee: Verily Life Sciences LLC
    Inventors: Anupam J. Pathak, Michael Allen
  • Patent number: 10213920
    Abstract: A method for monitoring a payload-handling robot assembly having at least one robot includes identifying a robot-handled payload arrangement on the basis of a current position of the robot assembly relative to a specified change position of the robot assembly. In another aspect, a robot assembly includes at least one robot, a monitoring apparatus configured to determine a current position of the robot assembly and to identify a robot-handled payload arrangement on the basis of the current position of the robot assembly relative to a specified change position of the robot assembly, and a payload receptacle for receiving a plurality of different payloads. The robot is configured for handling the plurality of payloads in an alternating manner.
    Type: Grant
    Filed: July 23, 2014
    Date of Patent: February 26, 2019
    Assignee: KUKA Deutschland GmbH
    Inventors: Torsten Geiler, Florian Steigenberger, Frank Roland, Uwe Bonin, Richard Rudolf
  • Patent number: 10206752
    Abstract: A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis.
    Type: Grant
    Filed: May 13, 2016
    Date of Patent: February 19, 2019
    Assignee: CMR SURGICAL LIMITED
    Inventors: Luke David Ronald Hares, Keith Marshall
  • Patent number: 10197219
    Abstract: A secondary light curtain for preventing injury to an operator of a press brake during formation of a second flange on a workpiece and a method for using the same. The secondary light curtain detects intrusion by the operator into a crush zone, i.e. the area, between the ram and the leading edge of a prior formed flange. In order to provide for ready adjustment of the height of the secondary light curtain, a mounting bracket having a longitudinal mounting slot, and a cooperating secondary angle bracket are provided. The mounting bracket of the present invention allows the secondary light curtain light assemblies to be mounted directly on the front or side of the ram.
    Type: Grant
    Filed: August 4, 2017
    Date of Patent: February 5, 2019
    Inventor: Jason Boyer
  • Patent number: 10189182
    Abstract: A processing system includes a processing apparatus having functional units including a holding unit that holds a workpiece by a holding surface, a processing unit that processes the workpiece held by the holding unit, and a feed unit that moves the holding unit and the processing unit relatively. The processing system further includes a detecting unit that is provided for part or all of the functional units and detects any of vibration, current, voltage, load, speed, torque, pressure, temperature, flow rate, change in a taken image, and the thickness of the workpiece, and a data accumulating unit that accumulates information included in a signal output from the detecting unit as data.
    Type: Grant
    Filed: May 25, 2016
    Date of Patent: January 29, 2019
    Assignee: DISCO Corporation
    Inventors: Masahiro Takekawa, Tatsuhiko Mori, Hirotaka Ochiai, Frank Wei
  • Patent number: 10185405
    Abstract: There is provided an information processing apparatus including an acquisition unit acquiring data on at least one of an acceleration or an angular velocity of a controller operated by a user, and a determination unit determining at least one of a velocity of the controller or a trajectory of the controller based on the acquired data on the at least one of the acceleration or the angular velocity.
    Type: Grant
    Filed: July 19, 2012
    Date of Patent: January 22, 2019
    Assignee: Sony Corporation
    Inventors: Shinobu Kuriya, Tetsuro Goto, Masatoshi Ueno, Kenichi Kabasawa, Tatsuya Suzuki, Tsubasa Tsukahara, Toshiyuki Nakagawa, Hideo Kawabe
  • Patent number: 10175676
    Abstract: A servomotor controller includes a connection mechanism configured to transfer power of a servomotor to a driven body; a motor control unit configured to control the servomotor using a position command value; a first force estimation unit configured to estimate a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism; a second force estimation unit configured to estimate a second force estimated value serving as a fixed value; a selection unit configured to compare an absolute value of the first force estimated value and an absolute value of the second force estimated value to output the first or second force estimated value having the larger absolute value; and a compensation amount generation unit configured to generate a compensation amount for compensating the position command value on the basis of the first or second force estimated value.
    Type: Grant
    Filed: November 29, 2017
    Date of Patent: January 8, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10125699
    Abstract: A method, using multiple position sensors, for determining a characteristic of the actuator or a system, wherein the characteristic is causing or is indicative of the cause of the change in position of the actuator. One characteristic may be the lost motion of the actuator or system. Lost motion is the lag between the motion of a controlled device and that of an electrical drive device due to yielding or looseness. The lost motion of an actuator may increase as components wear and may eventually degrade the function or cause failure of the actuator and/or system.
    Type: Grant
    Filed: November 3, 2016
    Date of Patent: November 13, 2018
    Assignee: Borgwarner Inc.
    Inventors: Brian Wightman, Ryan Howell
  • Patent number: 10111641
    Abstract: There are provided a radiographic imaging apparatus that is movable in response to a relatively small application of force and a method for controlling the same. A radiographic imaging apparatus includes a radiographic image generator; a motor configured to move the radiographic image generator; and a controller configured to calculate a disturbance applied to the radiographic image generator and to drive the motor based on the disturbance.
    Type: Grant
    Filed: May 4, 2015
    Date of Patent: October 30, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventor: Ho-Seong Kwak
  • Patent number: 10073908
    Abstract: A method, apparatus and computer program product for Functional Space-Time Trajectory Clustering. The method comprises receiving collections of data structures comprising location and time descriptors. The method further comprises estimating functional curves from the collections of data structures. The method further comprises reducing dimensions of the functional curves; and clustering the functional curves into clusters.
    Type: Grant
    Filed: June 15, 2015
    Date of Patent: September 11, 2018
    Assignee: International Business Machines Corporation
    Inventors: Peter Bak, Yuval Nardi, Eli Packer
  • Patent number: 10061294
    Abstract: A numerical controller sets a parameter actually used for servo control on the basis of command data generated by analyzing a machining program. Based on the set parameter and a predefined allowable position deviation amount, a feed speed which is given by a position deviation not exceeding the predefined allowable position deviation amount is calculated. Then, when a feed speed commanded by the command data is larger than the calculated feed speed, the feed speed commanded by the command data is clamped at the calculated feed speed.
    Type: Grant
    Filed: February 9, 2016
    Date of Patent: August 28, 2018
    Assignee: FANUC Corporation
    Inventor: Takenori Ono
  • Patent number: 10035504
    Abstract: A filter processor of a control apparatus for a rotary electric machine filters target torque for the rotary electric machine to suppress a vibrational frequency component of a drivetrain using a filter having a frequency transfer characteristic. A controller performs drive control of the rotary electric machine according to the filtered target torque. A parameter calculator calculates, according to a running condition of the vehicle, a parameter associated with a request value for responsivity of output torque of the rotary electric machine with respect to the target torque. A variable setter variably sets the frequency transfer characteristic of the filter to decrease a degree of attenuation of the vibrational frequency component with an increase of the request value for the responsivity of the output torque.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: July 31, 2018
    Assignees: DENSO CORPORATION, NISSAN MOTOR CO., LTD.
    Inventors: Syo Hashimoto, Shuichi Orita
  • Patent number: 10033319
    Abstract: An improved system for tuning a motor controller is disclosed. The controller gains are initially set based on the measured frequency response for the controlled system. A desired level of performance is defined by setting a desired phase margin and a desired gain margin to be observed in the frequency response. An improved method of determining the frequency response provides for a reduced computational intensity. The initial tuning routine uses the frequency response to set not only controller gains, but also settings for filters in the control module. Having obtained the desired level of performance from the initial tuning, the motor drive executes an adaptive tuning routine while controlling the motor. The adaptive tuning routine tracks changes in the operating performance and adjusts the filter settings or the controller gains to return operation to within the desired level of performance while the motor continues to operate.
    Type: Grant
    Filed: September 1, 2015
    Date of Patent: July 24, 2018
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Aderiano M. da Silva, Brian Fast, Robert J. Miklosovic, Michelle E. Holt
  • Patent number: 10031506
    Abstract: A motion control method includes: (a) obtaining a current position and a current velocity of a control object at a current time; (b) obtaining a current acceleration based on the current position and the current velocity, wherein the current acceleration has a positive correlation with a difference between the current position and a target position as well as a negative correlation with the current velocity; (c) controlling a motor for driving the control object utilizing the current acceleration; and (d) iteratively performing the steps (a)-(c) until the control object reaches the target position. A motion trajectory planning method and a motion control device are further provided. Through the above-mentioned way, the present disclosure could realize the smooth acceleration and smooth deceleration of the motor. As a result, smooth motion trajectory, less vibration, and stable motor with less overshoot could be achieved.
    Type: Grant
    Filed: January 18, 2017
    Date of Patent: July 24, 2018
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Wenhua Fan, Lifu Zhang, Xi Bai, Youjun Xiong
  • Patent number: 10028881
    Abstract: A swinging leg pendulum movement aid for walking including a pair of assisting units for a left leg and a right leg each having a drive source for applying a pulling force to an auxiliary force transmission part, a joint angle sensor for detecting a joint angle of user's hip joints, and a control member for driving the drive sources of the respective assisting units corresponding to changes in the joint angle and applying an assistance force in a forward swinging direction to the swinging leg that kicked off a ground so as to aid a pendulum movement of the swinging leg.
    Type: Grant
    Filed: February 18, 2014
    Date of Patent: July 24, 2018
    Assignees: KYUSHU UNIVERSITY, NATIONAL UNIVERSITY CORPORATION, SUMITOMO RIKO COMPANY LIMITED
    Inventors: Motoji Yamamoto, Shin-ichiro Takasugi, Masanori Sato, Takahiro Komatsu, Kazunobu Hashimoto
  • Patent number: 10029324
    Abstract: In wire electric discharge machining performed with a wire electrode moved relative to a workpiece based on a desired shape, a command speed is controlled so that the discharge densities per unit distance in circular-arc and straight portions of the desired shape are equal, in consideration of the difference in arc length between a circular-arc portion in a desired shape and the corresponding portion of a machining path, whereby the shape accuracy of the circular-arc portion is improved.
    Type: Grant
    Filed: February 25, 2015
    Date of Patent: July 24, 2018
    Assignee: FANUC CORPORATION
    Inventors: Yan Niu, Koji Suzuki
  • Patent number: 10031507
    Abstract: A servo control device including a servo control unit that calculates a drive command that causes a feedback position from a motor to be driven to follow a command position, to drive the motor according to the drive command, a moving-state determination unit that determines a speed of the motor is by simulating a response of the motor, and outputs a determination result as a moving state, a correction-amount selection unit that selects a correction amount according to a change pattern of the moving state at a timing when the determined moving state changes, and an addition unit that adds the correction amount output from the correction-amount selection unit to the drive command calculated by the servo control unit to generate a corrected drive command, and sets the corrected drive command as a drive command to the motor instead of the drive command calculated by the servo control unit.
    Type: Grant
    Filed: October 11, 2013
    Date of Patent: July 24, 2018
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kotaro Nagaoka, Tomoya Fujita
  • Patent number: 10016331
    Abstract: The subject matter of the invention is an articulation (1) with controllable stiffness and a force-measuring system, comprising a first device (20) that comprises a frame (4) having a curved face and connected to a first motor element (2), the first device (20) regulating the position of the articulation (1), and a second device (22) that regulates the stiffness of the articulation (1) and comprises a thrust element (15), the movement (D) of which determines the pre-compression of a resistive element (11) and thus the stiffness of the articulation (1); the first motor element (2) causes the frame (4) to rotate such that a wheel (8) of the second device (22) rolls on the curved face of the frame (4), causing the resistive element (11) to be compressed (C) via a transmission rod (7) associated with the wheel (8) and with the resistive element (11).
    Type: Grant
    Filed: May 23, 2014
    Date of Patent: July 10, 2018
    Assignees: CONSEJO SUPERIOR DE INVESTIGACIONES CIENTIFICAS (CSIC), UNIVERSIDAD POLITECNICA DE MADRID
    Inventors: Manuel Javier Cestari Soto, Daniel Sanz Merodio, Elena Garcia Armada
  • Patent number: 10019043
    Abstract: Embodiments disclosed herein generally relate to a hard disk drive system with improved isolation from operational vibration. More particularly, embodiments disclosed herein provide a hard disk drive system with a vibration isolation frame and flexible connection without deviation from standard form factor. The standard form factor is the form factor of the hard disk drive with the base plate, but without the isolation frame. The hard disk drive with the isolation frame has the same form factor as the hard disk drive without the isolation frame, but with the base plate. Examples of form factors that may be utilized include the form factors for 3.5 inch and 2.5 inch hard disk drives. It is to be understood that 3.5 inch and 2.5 inch form factors are simply examples. Other size form factors are contemplated as well.
    Type: Grant
    Filed: December 14, 2015
    Date of Patent: July 10, 2018
    Assignee: WESTERN DIGITAL TECHNOLOGIES, INC.
    Inventors: Takehiko Eguchi, Kenji Tomida, Toshihisa Okazaki
  • Patent number: 9991825
    Abstract: A power equipment system with a plurality of power equipment units each including a working tool. Each of the power equipment units may include provisions permitting independent connection with both a battery and an electric motor, wherein the battery and electric motor may be moved between different power equipment units as needed. In some embodiments, a first power equipment unit may provide an identity information signal of the associated working tool to a controller of either or both of the motor and the battery. The identity information may limit or control one or more operating parameters of the motor when the motor is installed on the first power equipment unit.
    Type: Grant
    Filed: November 18, 2015
    Date of Patent: June 5, 2018
    Assignee: THE TORO COMPANY
    Inventors: LaVern L. Ackerman, Gregory S. Janey, Karl D. Heal, Allan D. Kanitz
  • Patent number: 9964939
    Abstract: A trajectory display device comprises a position information acquisition part acquiring position information of a drive axis of a machine tool, a tool coordinate calculation part calculating the coordinate value of a tool tip point based on the position information, and a tool vector calculation part setting a tool vector along the tool axis with the tool tip point as the starting point. The trajectory display device comprises an intersection calculation part calculating the coordinate values of the intersection points of the tool vector with preset flat planes and a display part displaying the tool axis trajectories represented by a line connecting the intersection points.
    Type: Grant
    Filed: April 25, 2016
    Date of Patent: May 8, 2018
    Assignee: FANUC CORPORATION
    Inventors: Hajime Ogawa, Junichi Tezuka
  • Patent number: 9961221
    Abstract: A motor control unit performs driving control for a stepping motor by using vector control, and detects a rotational position ? of a rotor of the stepping motor, the rotational position ? being required for vector control, by using a position detection unit, based on a pulse signal that is output from an encoder. The motor control unit determines whether or not there is an abnormality in the pulse signal output from the encoder. Upon determining that there is an abnormality in the pulse signal, the motor control unit corrects a detection value of the position ? of the rotor of the stepping motor so as to compensate an error caused by the abnormality in the pulse signal.
    Type: Grant
    Filed: September 28, 2016
    Date of Patent: May 1, 2018
    Assignee: Canon Kabushiki Kaisha
    Inventor: Hiroki Sato
  • Patent number: 9912271
    Abstract: The present invention provides a linear actuator including a motor; a linear driving unit coupled to the motor and including a magnet; a sensor unit configured to sense a change amount of magnetic flux depending on a position of the magnet and convert the sensed change amount of magnetic flux into measured voltage data; a data unit in which reference voltage data corresponding to the change amount of magnetic flux depending on a position of the magnet is stored; and a judging unit configured to compare the reference voltage data with the measured voltage data at the corresponding position of the magnet. The present invention is advantageous in that, by compensation-controlling a position of the motor, feedback control may be performed in the step motor to secure performance of the product to which the present invention is applied.
    Type: Grant
    Filed: June 22, 2016
    Date of Patent: March 6, 2018
    Assignee: LG INNOTEK CO., LTD.
    Inventor: Jin Seob Lee
  • Patent number: 9893662
    Abstract: A servomotor control device includes a torque command creation part for creating a torque command value for driving a servomotor. The torque command creation part includes a proportional gain part and an integral gain part. An integral gain is set as a value calculated by multiplying an initial value, by a ratio J/Jm of total inertia of a machine relative to rotor inertia of the servomotor, and a value set smaller than the square of a velocity gain magnification according to delay time of the velocity control loop. A proportional gain is a value calculated by adding a value according to a difference in calculation cycle between the integral term and the proportional term, and the integral gain, to a value calculated by multiplying an initial value by the ratio J/Jm and the velocity gain magnification.
    Type: Grant
    Filed: July 17, 2017
    Date of Patent: February 13, 2018
    Assignee: FANUC CORPORATION
    Inventors: Ryoutarou Tsuneki, Satoshi Ikai
  • Patent number: 9877042
    Abstract: A position encoder system (e.g., including a linear encoder) is configured to rapidly provide encoder position data in response to position trigger signals that are received from a host motion control system at predictable times (e.g., according to a preset frequency, etc.) A pre-trigger lead time is determined that is a fraction of a duration of a defined encoder position sample period. A current instance of the encoder position sample period is then initiated at the pre-trigger lead time before a next predictable time of the position trigger signal. A current position trigger signal is then received (e.g., near the middle of the current instance of the encoder position sample period) from the host motion control system. The average effective sample time of the current instance of the encoder position sample period coincides with the actual timing of the current position trigger signal within an allowed tolerance window.
    Type: Grant
    Filed: May 26, 2017
    Date of Patent: January 23, 2018
    Assignee: Mitutoyo Corporation
    Inventors: Bjorn Erik Bertil Jansson, Andrew Michael Patzwald
  • Patent number: 9821473
    Abstract: A robotic end effector system and method having a plurality of end effectors which are selectively suitable for particular applications on a workpiece. The end effectors include a resident controller adapted to execute tasks specific to the end effector and are rapidly attachable and removable from the robot for easy change over to different workpieces.
    Type: Grant
    Filed: October 29, 2014
    Date of Patent: November 21, 2017
    Assignee: Comau LLC
    Inventors: Velibor Kilibarda, Joseph Cyrek, David Reid
  • Patent number: 9798295
    Abstract: A motor controller according to one aspect of the present invention is a motor controller for controlling a servo motor that drives a machine, including: a position command unit for outputting a position command of the machine; a position detector for detecting the position of the machine; a position controller for generating a motor velocity command based on the position command output by the position command unit and the machine position detected by the position detector; and a velocity controller for controlling the motor velocity in accordance with the motor velocity command, and is constructed such that the position controller includes a filter F(s) that approximates the inverse characteristic of the transfer characteristic from the motor velocity command to the machine velocity.
    Type: Grant
    Filed: February 24, 2016
    Date of Patent: October 24, 2017
    Assignee: FANUC CORPORATION
    Inventors: Tsutomu Nakamura, Satoshi Ikai
  • Patent number: 9785139
    Abstract: A working machine feed axis control device: disposes a velocity feedback loop and forms a cascade coupling on the inner side of a location feedback loop; comprises a velocity gain setting apparatus (30) which multiplies the output of the velocity feedback look by a first gain (kv), and a location gain setting apparatus (31) which multiplies the output of the location feedback loop by a second gain (kp); subtracts the output of the velocity gain setting apparatus (30) and the output of the location gain setting apparatus (31) from a torque instruction (?); and outputs the remaining torque instruction (?) to a subject to be controlled (27).
    Type: Grant
    Filed: February 28, 2014
    Date of Patent: October 10, 2017
    Assignee: MAKINO MILLING MACHINE CO., LTD.
    Inventor: Mitsunari Oda
  • Patent number: 9762159
    Abstract: A CPU obtains a difference between a data number at timing when an ENC0 signal or an ENC1 signal changes in a case where there is no follow-up delay of a rotor relative to a voltage signal applied to an A-phase coil and a B-phase coil and a data number at timing when the ENC0 signal or the ENC1 signal changes in a case where there is a follow-up delay of the rotor relative to the voltage signal applied to the A-phase coil and the B-phase coil. Then, the CPU controls the voltage signal applied to the A-phase coil and the B-phase coil based on the obtained difference.
    Type: Grant
    Filed: February 22, 2017
    Date of Patent: September 12, 2017
    Assignee: Canon Kabushiki Kaisha
    Inventor: Yoshihiro Mizuo
  • Patent number: 9754474
    Abstract: Systems are described for analyzing an environment. A system embodiment includes, but is not limited to, a plurality of sensors, each sensor configured for positioning proximate a respective environmental object, each sensor configured to generate output signals corresponding to a proximity of a human appendage with the sensor or an impact between the human appendage and the respective environmental object; a remote device configured to distinctly identify each of the plurality of sensors and to receive the output signals from each sensor; a processor configured to process the output signals to provide an indication of at least one of the proximity of the human appendage with the sensor or when an impact between the human appendage and the respective environmental object occurs based on a threshold value being exceeded; and an output reporter configured to generate communication signals responsive to instruction by the processor.
    Type: Grant
    Filed: September 2, 2015
    Date of Patent: September 5, 2017
    Assignee: Elwha LLC
    Inventors: Roderick A. Hyde, Jordin T. Kare, Eric C. Leuthardt, Mark A. Malamud, Tony S. Pan, Elizabeth A. Sweeney, Clarence T. Tegreene, Charles Whitmer, Lowell L. Wood, Jr.
  • Patent number: 9748879
    Abstract: A motor drive controller is provided with: a motor drive circuit that drives a motor and having a position detector that detects a position of a rotor of the motor and outputs a position detection signal; a motor control circuit that generates a rotation pulse signal based on the position detection signal output by the motor drive circuit; and a microcomputer that is provided with at least one timer and outputs a conversion signal that is obtained by multiplying the rotation pulse signal by n, where n is a natural number equal to or greater than two.
    Type: Grant
    Filed: November 12, 2015
    Date of Patent: August 29, 2017
    Assignee: Minebea Co., Ltd.
    Inventors: Hiroyuki Kaidu, Masato Aoki
  • Patent number: 9733641
    Abstract: The method comprises obtaining data samples, each data sample comprising a process variable and a controller output for adjusting the process variable to reach a set-point variable; and determining if there is valve jump or stiction by calculating a jump index or a static band index; wherein calculating the jump index comprises calculating a mean of a first set of angles, each angle from the first set of angles being computed from a ratio of: a difference between a peak process variable and its preceding process variable, and, a difference between a controller output corresponding to the peak process variable and its preceding controller output; and wherein calculating the static band index comprises calculating a mean of a second set of angles, each angle of the second set of angles being computed from a difference between a controller output corresponding to a flat process variable and its preceding controller output.
    Type: Grant
    Filed: October 22, 2013
    Date of Patent: August 15, 2017
    Assignee: YOKOGAWA ELECTRIC CORPORATION
    Inventors: Lakshmi Kiran Kanchi, Sankar Selvaraj
  • Patent number: 9731762
    Abstract: A control device for a land vehicle is described. The control device is set up to control at least one actuator of the land vehicle on the basis of an avoidance trajectory calculated by the control device in order to support a driver of the land vehicle during an evasive maneuver. The control device is also set up to receive sensor signals of at least one sensor; to generate an environmental model from the received sensor signals; to determine the position of an object relative to a current position of the land vehicle in the generated environmental model; and to calculate a preliminary avoidance trajectory. In the calculation of the preliminary avoidance trajectory, the current position of the land vehicle in the generated environmental model constitutes the starting point of the preliminary avoidance trajectory. A preliminary end point of the preliminary avoidance trajectory is determined on the basis of the determined position of the object.
    Type: Grant
    Filed: May 12, 2014
    Date of Patent: August 15, 2017
    Assignee: TRW Automotive GmbH
    Inventors: Carsten Hass, Torsten Bertram, Martin Keller
  • Patent number: 9716459
    Abstract: A mobile body moves along a magnetic pole path. The magnetic pole path includes a first magnetic pole section and a second magnetic pole section. The mobile body includes a detector, a rate changing unit, and a position specifying unit. The detector detects a phase angle in accordance with a magnetic flux of the magnetic pole path. The rate changing unit changes a position conversion rate obtained by associating a phase angle of the magnetic pole path with a position of the magnetic pole path based on the phase angle detected by the detector. The position specifying unit specifies a position of the mobile body along the magnetic pole path based on the phase angle detected by the detector and the position conversion rate changed by the rate changing unit.
    Type: Grant
    Filed: July 27, 2016
    Date of Patent: July 25, 2017
    Assignee: MURATA MACHINERY, LTD.
    Inventors: Satoshi Hanaka, Yasutake Yamada
  • Patent number: 9707993
    Abstract: An electric power steering apparatus, without outside attachment circuit, that is capable of simultaneously sampling two phases of which the duties are not saturated and of cheaply detecting the 3-shunt currents by using two A/D converting units in correspondence to the duty saturation phase (the maximum phase) changing when the motor is rotated. The apparatus calculates a current command value due to at least a steering torque, performs a PWM-control of a 3-phase motor through an inverter based on the current command value, and assist-controls a steering system of a vehicle by detecting currents of the 3-phase motor and feed-backing.
    Type: Grant
    Filed: April 20, 2015
    Date of Patent: July 18, 2017
    Assignee: NSK LTD.
    Inventor: Shin Kumagai
  • Patent number: 9690287
    Abstract: A servo system includes a motor having a stator and a movable element which moves relative to the stator, an encoder which detects at least one of a position and a speed of the movable element of the motor, and a controller including first circuitry which controls operation of the motor based on a detection result of the encoder. The first circuitry of the controller transmits a first command signal that changes a communication speed between the encoder and the controller from a first speed to a second speed which is higher than the first speed, and the encoder includes second circuitry which changes the communication speed between the encoder and the controller to the second speed when the first command signal is received from the controller.
    Type: Grant
    Filed: April 29, 2016
    Date of Patent: June 27, 2017
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Yasuhiro Matsutani
  • Patent number: 9682480
    Abstract: A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.
    Type: Grant
    Filed: December 3, 2013
    Date of Patent: June 20, 2017
    Assignee: ABB Schweiz AG
    Inventors: Biao Zhang, Jianjun Wang, George Q. Zhang, Sangeun Choi, Remus Boca, Thomas A. Fuhlbrigge, Tomas Groth
  • Patent number: 9673740
    Abstract: A system and method for determining a microstep rotor offset of a stepper motor is provided. The system includes a microcontroller configured to control voltage applied to a first coil and a second coil provided to operate the stepper motor; a back electro-magnetic force (BEMF) detection circuit configured to detect BEMF generated from the stepper motor. The stepper motor drives a pointer with a pointer stop, and the system is configured to: 1) home the stepper motor to the pointer stop, and 2) perform an iterative operation to determine a specific microstep associated with the microstep rotor offset.
    Type: Grant
    Filed: October 6, 2015
    Date of Patent: June 6, 2017
    Assignee: Visteon Global Technologies, Inc.
    Inventor: Ronald Paul Russ
  • Patent number: 9623560
    Abstract: Methods and systems for operating at least one entity are provided. In one method, at least one entity is provided for operation in at least one area, where the area includes at least one human. Information is gathered regarding the human, where the information includes a location of at least one body portion of the human. It is determined whether or not the entity will contact the body portion of the human. The method also includes operating the entity to avoid contacting the body portion of the human so that the human is at least more likely to be safe from contact with the entity.
    Type: Grant
    Filed: November 26, 2014
    Date of Patent: April 18, 2017
    Inventor: Daniel Theobald
  • Patent number: 9601281
    Abstract: The circuit breaker system contains a plurality of phase conductors, a circuit breaker having a plurality of breaker poles, and a short-circuit link having a star point and a plurality of link conductors combined at the star point. Each of the phase conductors is electrically conductively connected to in each case one of the breaker poles and each link conductor is electrically conductively connected to in each case one of the phase conductors in each case one of several first disconnectors to which short-circuit current can be applied. In order to avoid expenditure on assembly and downtimes of the circuit breaker system when carrying out simulation experiments with the aid of the short-circuit link, the circuit breaker system contains a second disconnector which, when closed, electrically conductively connects the star point to ground and which is opened when a short-circuit current is applied to the short-circuit current link.
    Type: Grant
    Filed: October 27, 2014
    Date of Patent: March 21, 2017
    Assignee: ABB Schweiz AG
    Inventors: Lukas Zehnder, Andreas Nohl
  • Patent number: 9599979
    Abstract: The present invention discloses a machining error calculation apparatus for calculating the machining error more precisely through analysis.
    Type: Grant
    Filed: September 14, 2011
    Date of Patent: March 21, 2017
    Assignee: JTEKT CORPORATION
    Inventor: Kenji Hamada
  • Patent number: 9602036
    Abstract: The present disclosure illustrates a motor speed curve control circuit. The motor speed curve control circuit is configured for adjusting a speed of a motor according to a motor speed curve. The motor speed curve control circuit comprises a divider resistor module, an analog-to-digital converter and an arithmetic unit. The resistor module is configured for generating at least one turning-point voltage. The turning-point voltage is used to adjust a slope of the motor speed curve. The analog-to-digital converter converts the turning-point voltage to digital form. The arithmetic unit sets a speed associated with the turning-point voltage corresponding to a first preset duty cycle in the motor speed curve, such that the motor speed curve becomes linear. The arithmetic unit generates a second pulse width modulation signal according to the adjusted motor speed curve and a first pulse width modulation signal to drive the motor.
    Type: Grant
    Filed: September 2, 2015
    Date of Patent: March 21, 2017
    Assignee: ANPEC ELECTRONICS CORPORATION
    Inventors: Kun-Min Chen, Ching-Sheng Li, I-Lin Chiu
  • Patent number: 9588508
    Abstract: A call unit transmits a call signal to verify the presence or absence of slave devices, which correspond to motors, to all of the slave devices after a master device is activated. A response reception unit determines the number of the slave devices, based on the number of response signals to the call signals. A communication speed change determination unit determines whether or not a data communication speed between the master device and the slave devices should be changed from a first speed to a second speed different from the first speed during a period from the time when the number of the slave devices is determined to the time when the drive of the motors is stopped, in accordance with a result of comparison of between the number of the slave devices and a predetermined number.
    Type: Grant
    Filed: June 24, 2013
    Date of Patent: March 7, 2017
    Assignee: FANUC Corporation
    Inventor: Taku Sasaki
  • Patent number: 9563775
    Abstract: Technologies for improving platform initialization on a computing device include beginning initialization of a platform of the computing device using a basic input/output system (BIOS) of the computing device. A security co-processor driver module adds a security co-processor command to a command list when a security processor command is received from the BIOS module. The computing device establishes a periodic interrupt of the initialization of the platform to query the security co-processor regarding the availability of a response to a previously submitted security co-processor command, forward any responses received by the security co-processor driver module to the BIOS module, and submit the next security co-processor command in the command list to the security co-processor.
    Type: Grant
    Filed: December 29, 2015
    Date of Patent: February 7, 2017
    Assignee: intel Corporation
    Inventors: Guo Dong, Jiewen Yao, Vincent J. Zimmer, Michael A. Rothman
  • Patent number: 9522555
    Abstract: A control system includes: a motor; a driving unit including a driving target and displacing the driving target in a first direction and a second direction opposite to the first direction by transmitting power from the motor to the driving target; a detection unit detecting a position of the driving target; and a controller controlling the motor. The controller is configured to execute: a displacement control process to displace the driving target in the first direction and the second direction; a determination process to determine a holding current value holding the driving target at a target stop position; and a holding control process to hold the driving target, which has been disposed at the target stop position in the displacement control process, at the target stop position based on the holding current value determined by the determination process.
    Type: Grant
    Filed: March 10, 2016
    Date of Patent: December 20, 2016
    Assignee: Brother Kogyo Kabushiki Kaisha
    Inventor: Yuichi Hatakeyama